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yaw_pitch_roll.py
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yaw_pitch_roll.py
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#!/usr/bin/env python
from OpenGL.GL import *
from OpenGL.GLU import *
import math
import re
import pygame
from pygame.locals import *
#import serial
#ser = serial.Serial('/dev/tty.usbserial', 38400, timeout=1)
ax = ay = az = 0.0
axC = ayC = azC = 0.0
def resize(width, height):
if height==0:
height=1
glViewport(0, 0, width, height)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(45, 1.0*width/height, 0.1, 100.0)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
def init():
glShadeModel(GL_SMOOTH)
glClearColor(0.0, 0.0, 0.0, 0.0)
glClearDepth(1.0)
glEnable(GL_DEPTH_TEST)
glDepthFunc(GL_LEQUAL)
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST)
def drawText(position, textString):
font = pygame.font.SysFont ("Courier", 18, True)
textSurface = font.render(textString, True, (255,255,255,255), (0,0,0,255))
textData = pygame.image.tostring(textSurface, "RGBA", True)
glRasterPos3d(*position)
glDrawPixels(textSurface.get_width(), textSurface.get_height(), GL_RGBA, GL_UNSIGNED_BYTE, textData)
def draw():
global rquad
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLoadIdentity()
glTranslatef(0,0.0,-7.0)
osd_text = "pitch: " + str("{0:.2f}".format(az%360)) + ", roll: " + str("{0:.2f}".format(ay%360)) + ", yaw: " + str("{0:.2f}".format(ax%360))
drawText((-2,-2, 2), osd_text)
glRotatef(ax,0.0,-1.0,0.0) # Yaw, rotate around x-axis
glRotatef(ay,0.0,0.0,1.0) # roll, rotate around y-axis
glRotatef(az,-1.0,0.0,0.0) # pitch, rotate around z-axis
glBegin(GL_QUADS)
glColor3f(0.0,1.0,0.0)
glVertex3f( 1.0, 0.2,-1.0)
glVertex3f(-1.0, 0.2,-1.0)
glVertex3f(-1.0, 0.2, 1.0)
glVertex3f( 1.0, 0.2, 1.0)
glColor3f(1.0,0.5,0.0)
glVertex3f( 1.0,-0.2, 1.0)
glVertex3f(-1.0,-0.2, 1.0)
glVertex3f(-1.0,-0.2,-1.0)
glVertex3f( 1.0,-0.2,-1.0)
glColor3f(1.0,0.0,0.0)
glVertex3f( 1.0, 0.2, 1.0)
glVertex3f(-1.0, 0.2, 1.0)
glVertex3f(-1.0,-0.2, 1.0)
glVertex3f( 1.0,-0.2, 1.0)
glColor3f(1.0,1.0,0.0)
glVertex3f( 1.0,-0.2,-1.0)
glVertex3f(-1.0,-0.2,-1.0)
glVertex3f(-1.0, 0.2,-1.0)
glVertex3f( 1.0, 0.2,-1.0)
glColor3f(0.0,0.0,1.0)
glVertex3f(-1.0, 0.2, 1.0)
glVertex3f(-1.0, 0.2,-1.0)
glVertex3f(-1.0,-0.2,-1.0)
glVertex3f(-1.0,-0.2, 1.0)
glColor3f(1.0,0.0,1.0)
glVertex3f( 1.0, 0.2,-1.0)
glVertex3f( 1.0, 0.2, 1.0)
glVertex3f( 1.0,-0.2, 1.0)
glVertex3f( 1.0,-0.2,-1.0)
glEnd()
def read_data():
global ax, ay, az
ax = ay = az = 0.0
line = file.readline();
lineSplit = re.split(',', line);
ax = math.degrees(float(lineSplit[10]));
ay = math.degrees(float(lineSplit[11]));
az = math.degrees(float(lineSplit[12]));
print('ax{0:.2f}, ay{1:.2f}, az{2:.2f}'.format(ax, ay, az))
# request data by sending a dot
#ser.write(".")
#while not line_done:
#line = ser.readline()
#angles = line.split(", ")
#if len(angles) == 3:
# ax = float(angles[0])
# ay = float(angles[1])
# az = float(angles[2])
# line_done = 1
def main():
global yaw_mode
global file
global axC, ayC, azC
axC = ayC = azC = 0.0
file = open("data/pipe","r");
video_flags = OPENGL|DOUBLEBUF
pygame.init()
screen = pygame.display.set_mode((640,480), video_flags)
pygame.display.set_caption("Press Esc to quit, z toggles yaw mode")
resize(640,480)
init()
frames = 0
ticks = pygame.time.get_ticks()
while 1:
event = pygame.event.poll()
if event.type == QUIT or (event.type == KEYDOWN and event.key == K_ESCAPE):
break
if event.type == KEYDOWN and event.key == K_c:
print("calibrateing DONE");
read_data()
draw()
pygame.display.flip()
frames = frames+1
#print("fps: " + ((frames*1000)/(pygame.time.get_ticks()-ticks)))
#ser.close()
if __name__ == '__main__': main()